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      <h1 class="p_Heading1" style="page-break-after: avoid;"><span class="f_Heading1">Limits in VI-MotionCueing</span></h1>

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<p class="p_Normal">The only VI-DriveSim parameters which cannot be modified through VI-DriveSim GUI are the limits for displacements, velocities and accelerations along the 6 DOF that cannot be exceeded during the motion cueing execution. These limits are also used in the optimization of the cost function to guarantee a smooth approach to the limit itself. However to fulfill the real time performance only linear constraints can be defined, hence only an approximated limit management is possible by the MPC controller. For this reason a further safety layer is added to guarantee that the MC outputs do not exceed the defined limits in any condition: in these cases a SAFE WAIT (see MC status) occurs.</p>
<p class="p_Normal">&nbsp;</p>
<p class="p_Normal">The parameters are listed below with a brief description.</p>
<p class="p_Normal">&nbsp;</p>
<p class="p_NormalIndentParameters"><span class="f_NormalIndentParameters" style="font-style: italic;">VI_DriveSim.Inputs.Platform.Cueing.U_LIM_XY_AA</span><span class="f_NormalIndentParameters"> : (pitch acceleration)/100, [rad/s^2/100]. If the pitch acc limit is 10 rad/s^2 the value must be 0.1</span></p>
<p class="p_NormalIndentParameters"><span class="f_NormalIndentParameters" style="font-style: italic;">VI_DriveSim.Inputs.Platform.Cueing.U_LIM_XY_AL</span><span class="f_NormalIndentParameters"> : longitudinal acceleration, [m/s^2]</span></p>
<p class="p_NormalIndentParameters"><span class="f_NormalIndentParameters" style="font-style: italic;">VI_DriveSim.Inputs.Platform.Cueing.U_LIM_XY_JL</span><span class="f_NormalIndentParameters"> : (longitudinal Jerk)/100 [m/s^3/100]. Set it at 10000 &nbsp;to de-activate.</span></p>
<p class="p_NormalIndentParameters"><span class="f_NormalIndentParameters" style="font-style: italic;">VI_DriveSim.Inputs.Platform.Cueing.U_LIM_XY_VA</span><span class="f_NormalIndentParameters"> :Pitch velocity [rad/s]</span></p>
<p class="p_NormalIndentParameters"><span class="f_NormalIndentParameters" style="font-style: italic;">VI_DriveSim.Inputs.Platform.Cueing.U_LIM_YX_AA</span><span class="f_NormalIndentParameters"> : (roll acceleration)/100, [rad/s^2/100].</span></p>
<p class="p_NormalIndentParameters"><span class="f_NormalIndentParameters" style="font-style: italic;">VI_DriveSim.Inputs.Platform.Cueing.U_LIM_YX_AL</span><span class="f_NormalIndentParameters"> : lateral acceleration, [m/s^2]</span></p>
<p class="p_NormalIndentParameters"><span class="f_NormalIndentParameters" style="font-style: italic;">VI_DriveSim.Inputs.Platform.Cueing.U_LIM_YX_JL</span><span class="f_NormalIndentParameters">: (lateral Jerk)/100 [m/s^3/100]. Set it at 10000 &nbsp;to de-activate.</span></p>
<p class="p_NormalIndentParameters"><span class="f_NormalIndentParameters" style="font-style: italic;">VI_DriveSim.Inputs.Platform.Cueing.U_LIM_YX_VA</span><span class="f_NormalIndentParameters"> :Roll velocity [rad/s]</span></p>
<p class="p_NormalIndentParameters"><span class="f_NormalIndentParameters" style="font-style: italic;">VI_DriveSim.Inputs.Platform.Cueing.U_LIM_ZA_AA</span><span class="f_NormalIndentParameters"> : (yaw acceleration)/100, [rad/s^2/100].</span></p>
<p class="p_NormalIndentParameters"><span class="f_NormalIndentParameters" style="font-style: italic;">VI_DriveSim.Inputs.Platform.Cueing.U_LIM_ZA_VA</span><span class="f_NormalIndentParameters"> : Yaw velocity [rad/s]</span></p>
<p class="p_NormalIndentParameters"><span class="f_NormalIndentParameters" style="font-style: italic;">VI_DriveSim.Inputs.Platform.Cueing.U_LIM_ZV_AV</span><span class="f_NormalIndentParameters"> : vertical acceleration, [m/s^2]</span></p>
<p class="p_NormalIndentParameters"><span class="f_NormalIndentParameters" style="font-style: italic;">VI_DriveSim.Inputs.Platform.Cueing.U_LIM_ZV_JV </span><span class="f_NormalIndentParameters">: (vertical Jerk)/100 [m/s^3/100]. Set it at 10000 &nbsp;to de-activate.</span></p>
<p class="p_NormalIndentParameters"><span class="f_NormalIndentParameters" style="font-style: italic;">VI_DriveSim.Inputs.Platform.Cueing.Y_LIM_XY_PA</span><span class="f_NormalIndentParameters">: pitch displacement [rad]</span></p>
<p class="p_NormalIndentParameters"><span class="f_NormalIndentParameters" style="font-style: italic;">VI_DriveSim.Inputs.Platform.Cueing.Y_LIM_XY_PL</span><span class="f_NormalIndentParameters">: Longitudinal displacement [m]</span></p>
<p class="p_NormalIndentParameters"><span class="f_NormalIndentParameters" style="font-style: italic;">VI_DriveSim.Inputs.Platform.Cueing.Y_LIM_XY_VL</span><span class="f_NormalIndentParameters">: &nbsp;Longitudinal velocity [m/s]</span></p>
<p class="p_NormalIndentParameters"><span class="f_NormalIndentParameters" style="font-style: italic;">VI_DriveSim.Inputs.Platform.Cueing.Y_LIM_YX_PA</span><span class="f_NormalIndentParameters">: roll displacement [rad]</span></p>
<p class="p_NormalIndentParameters"><span class="f_NormalIndentParameters" style="font-style: italic;">VI_DriveSim.Inputs.Platform.Cueing.Y_LIM_YX_PL</span><span class="f_NormalIndentParameters"> : Lateral displacement [m]</span></p>
<p class="p_NormalIndentParameters"><span class="f_NormalIndentParameters" style="font-style: italic;">VI_DriveSim.Inputs.Platform.Cueing.Y_LIM_YX_VL</span><span class="f_NormalIndentParameters"> : &nbsp;Lateral velocity [m/s]</span></p>
<p class="p_NormalIndentParameters"><span class="f_NormalIndentParameters" style="font-style: italic;">VI_DriveSim.Inputs.Platform.Cueing.Y_LIM_ZA_PA</span><span class="f_NormalIndentParameters"> :Yaw displacement [rad]</span></p>
<p class="p_NormalIndentParameters"><span class="f_NormalIndentParameters" style="font-style: italic;">VI_DriveSim.Inputs.Platform.Cueing.Y_LIM_ZV_PV</span><span class="f_NormalIndentParameters"> : Vertical displacement [m]</span></p>
<p class="p_NormalIndentParameters"><span class="f_NormalIndentParameters" style="font-style: italic;">VI_DriveSim.Inputs.Platform.Cueing.Y_LIM_ZV_VV</span><span class="f_NormalIndentParameters">: Vertical velocity [m/s]</span></p>

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